Controller for input device of multiple degrees of freedom

Abstract

To provide a controller for an input device of multiple degrees of freedom, that more intuitively performs positioning and posture alignment of a tool, in work according to a robot arm using the input device of multiple degrees of freedom.SOLUTION: A controller for an input device of multiple degrees of freedom is constituted of a selecting switch 11, and a controlling unit 12. The selecting switch 11 allows an operator to select one of two coordinate systems including: a base coordinate system determined on the basis of the input device 1 of multiple degrees of freedom; and a tool coordinate system determined on the basis of a tool 3 which is coupled to a robot arm 2 in order to operate an object. The controlling unit 12 controls the robot arm 2 by using input axis information for two axes or more according to the operator having used the input device 1 of multiple degrees of freedom, as input axis information in a coordinate system selected by the selecting switch 11.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device for a multi-degree-of-freedom input device that controls a robot arm based on input axis information for two or more axes by an operator using the multi-degree-of-freedom input device. [Background technology]

[0002] Multi-degree-of-freedom input devices, such as joysticks and gamepads, are known for controlling objects such as unmanned aerial vehicles (e.g., drones) and robotic arms. Here, Patent Document 1, for example, is known as a multi-degree-of-freedom input device for a robotic arm. Patent Document 1 discloses a technique for switching between a base coordinate system capable of controlling the overall posture of the robotic arm, a joint coordinate system capable of controlling the joints of the robotic arm, and a tool coordinate system capable of controlling a tool connected to the robotic arm, and displaying operation buttons for each coordinate system on an LCD screen. However, such button-based multi-degree-of-freedom input devices require the operator to switch their line of sight between the LCD screen and the robotic arm, making intuitive operation generally difficult. Furthermore, while such button-based multi-degree-of-freedom input devices can control the position of the robotic arm, they cannot control its drive speed.

[0003] Meanwhile, a multi-degree-of-freedom input device capable of intuitively controlling an object to be operated is disclosed, for example, in Patent Document 2, which is filed by the same applicant as the present application. In this device, the XYZ coordinate center of the translation mechanism is located in the grip, while the roll-pitch-yaw rotation center of the rotation mechanism is located at the operator's wrist joint, enabling intuitive remote control of the object to be operated with movements similar to those controlled by the musculoskeletal system. Furthermore, a multi-degree-of-freedom input device such as that disclosed in Patent Document 2 is capable of not only position control, but also control of the drive speed of the robot arm according to the operating speed of the input device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-146782 [Patent Document 2] Japanese Patent Publication No. 2023-045516 Summary of the Invention [Problem to be solved by the invention]

[0005] When performing assembly work using a robot arm, for example, alignment alone is generally sufficient. For example, when performing work on flat objects, such as assembling electronic components onto a circuit board or screwing a circuit board into a housing, simply identify the target and align the tool connected to the robot arm with it. After that, vertical movement is sufficient. Therefore, only tool alignment is required. However, for unspecified tasks, such as automobile dismantling, the screws and nuts to be removed are located not only on horizontal surfaces but also on various surfaces, such as sides and inclined surfaces. Therefore, simply aligning the tool, such as a screwdriver or wrench connected to the robot arm, is insufficient. In other words, in addition to alignment, tool orientation adjustment is also required. Specifically, for example, the tool orientation must be adjusted so that the rotation axis of a socket wrench is coaxial with the rotation axis of the nut to be removed. Even if the socket wrench comes into contact with the nut, the nut cannot be turned unless the rotation axis of the socket wrench and the rotation axis of the nut are coaxial. Thus, when performing unspecified tasks using a robot arm, not only tool alignment but also orientation adjustment is required.

[0006] For example, when operating a robot arm using a multi-degree-of-freedom input device that allows intuitive operation as in Patent Document 2, positioning can be easy but posture adjustment can be difficult. In particular, when operating a robot arm remotely to perform automobile dismantling work, the target object is often on the side of the vehicle, on an inclined surface, or in a blind spot. In such cases, even if the position of the tool can be adjusted, it can be difficult to adjust the tool's posture, such as aligning the tool's rotation axis with the target object.

[0007] In view of the above circumstances, the present invention aims to provide a control device for a multi-degree-of-freedom input device that enables more intuitive positioning and orientation adjustment of a tool when performing work using a robot arm that uses a multi-degree-of-freedom input device. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object of the present invention, the control device for a multi-degree-of-freedom input device according to the present invention may comprise a selection switch that allows an operator to select one of two coordinate systems: a base coordinate system determined based on the multi-degree-of-freedom input device, and a tool coordinate system determined based on a tool connected to the robot arm for manipulating a target object; and a control unit that controls the robot arm using input axis information for two or more axes provided by the operator using the multi-degree-of-freedom input device as input axis information in the coordinate system selected by the selection switch.

[0009] Here, the base coordinate system may be any Cartesian coordinate system in which the axes are oriented horizontally relative to the base of the multi-degree-of-freedom input device.

[0010] The tool coordinate system may be any Cartesian coordinate system in which the axis is oriented perpendicular to the tool.

[0011] Furthermore, when the tool is a finger-type end effector, the tool coordinate system may be an orthogonal coordinate system in which the axis is oriented horizontally relative to the back of the hand of the finger-type end effector.

[0012] The control unit may also control the drive speed as well as the position and / or attitude of the robot arm using input axis information for two or more axes input by an operator using a multi-degree-of-freedom input device.

[0013] Furthermore, the control device for a multi-degree-of-freedom input device of the present invention may be provided with a notification unit that notifies which of the two coordinate systems has been selected by the selection switch.

[0014] Furthermore, the control device for a multi-degree-of-freedom input device of the present invention may be provided with a pointer that indicates the direction in which a tool connected to the robot arm is facing.

[0015] Furthermore, the control device for a multi-degree-of-freedom input device of the present invention may be equipped with a tool camera that captures an image in the direction in which a tool connected to the robot arm is facing, and a monitor that is configured to be able to display the image captured by the tool camera.

[0016] Furthermore, the control device for a multi-degree-of-freedom input device of the present invention may be equipped with a panoramic camera that captures images including tools and targets, and the monitor may be configured to be able to display images captured by the panoramic camera.

[0017] Here, the control unit may be configured to display on the monitor the image captured by the panoramic camera when the base coordinate system is selected by the selection switch, and to display on the monitor the image captured by the tool camera when the tool coordinate system is selected by the selection switch. [Effects of the Invention]

[0018] The control device for a multi-degree-of-freedom input device of the present invention has the advantage that it allows for more intuitive positioning and orientation of a tool when performing work using a robot arm that uses a multi-degree-of-freedom input device. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic diagram for explaining the overall configuration of a control device for a multi-degree-of-freedom input device according to the present invention. [Figure 2] FIG. 2 is a schematic perspective view for explaining a base coordinate system that can be selected by a selection switch of the control device for a multi-degree-of-freedom input device of the present invention. [Figure 3] FIG. 3 is a schematic perspective view for explaining a tool coordinate system that can be selected by a selection switch of the control device for a multi-degree-of-freedom input device of the present invention. [Figure 4]Figure 4 is a graph comparing the total movement of the robot arm for each coordinate system. [Figure 5] Figure 5 is a graph comparing task completion times for each coordinate system. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram illustrating the overall configuration of a control device for a multi-degree-of-freedom input device of the present invention. The control device 10 for a multi-degree-of-freedom input device of the present invention controls a robot arm 2 based on input axis information for two or more axes input by an operator using the multi-degree-of-freedom input device 1. As shown in the figure, the control device 10 for a multi-degree-of-freedom input device of the present invention mainly comprises a selection switch 11 and a control unit 12.

[0021] Here, the multi-degree-of-freedom input device 1 may simply be one that can output two-axis XY coordinate input axis information, such as a joystick or game pad, or it may be a haptic interface that can output input axis information for six axes: X axis, Y axis, Z axis, roll rotation axis, pitch rotation axis, and yaw rotation axis.

[0022] The robot arm 2 is also called a manipulator. The robot arm 2 is configured to be able to perform movements equivalent to those of a human arm by combining joints and links. Various applications are possible, from a two-degree-of-freedom robot arm that can move along only two axes to a six-degree-of-freedom robot arm that can move along six axes.

[0023] The selection switch 11 is a switch that allows the operator to select one of two coordinate systems, a base coordinate system and a tool coordinate system. That is, the operator can switch between the base coordinate system and the tool coordinate system by operating the selection switch 11. Here, the base coordinate system is a coordinate system determined based on the multi-degree-of-freedom input device 1. That is, the base coordinate system is determined based on the line of sight from the operator. Meanwhile, the tool coordinate system is a coordinate system determined based on the tool 3 that is connected to the robot arm 2 and used to manipulate a target object. That is, the tool coordinate system is determined based on the line of sight from the tool 3. Here, the tool 3 is preferably one having a rotation axis, such as a drill, a screwdriver, or a wrench. Such a tool 3 may be connected to the robot arm 2. However, the tool 3 is not necessarily limited to these and may be, for example, a finger-type end effector.

[0024] The selection switch 11 may transmit a switching signal to the control unit 12 (described later). The selection switch 11 may, for example, be a button displayed on a touch panel. However, in this case, the user must first move their gaze toward the touch panel when operating the button. Therefore, from the perspective of operability, a physical switch that can be pressed with a finger or foot without visual confirmation is preferable. For example, the selection switch 11 may be configured so that it can be operated without visual confirmation of which of two coordinate systems is selected, such that a pressed-in switch indicates the tool coordinate system and a raised-up switch indicates the base coordinate system. In the illustrated example, the selection switch 11 is shown as being built into the multi-degree-of-freedom input device control device 10. However, the present invention is not limited to this. The selection switch 11 may be separate from the multi-degree-of-freedom input device control device 10 and connected via wire or wirelessly. Specifically, the selection switch 11 may be incorporated into the multi-degree-of-freedom input device 1. Furthermore, the multi-degree-of-freedom input device 1 may also have the multi-degree-of-freedom input device control device 10 built-in.

[0025] Here, the coordinate system will be explained in more detail. Figure 2 is a schematic perspective view for explaining a base coordinate system that can be selected by the selection switch of the control device for a multi-degree-of-freedom input device of the present invention. In the figure, parts with the same reference numerals as in Figure 1 represent the same things.

[0026] First, the base coordinate system is a coordinate system determined based on the multi-degree-of-freedom input device. Note that FIG. 2 shows the multi-degree-of-freedom input device 1 disclosed in Patent Document 2 as an example. As shown in FIG. 2, the base coordinate system is a Cartesian coordinate system whose axes are oriented horizontally relative to the base of the multi-degree-of-freedom input device 1. Specifically, if the base of the multi-degree-of-freedom input device 1 is placed on a table that is horizontal to the ground, the base coordinate system is a Cartesian coordinate system whose axes are oriented horizontally relative to the ground. As shown in FIG. 2, for example, in the case of a six-axis multi-degree-of-freedom input device 1, the base coordinate system is a Cartesian coordinate system with the tip of the tool 3 as the origin, the horizontal plane as the XY plane, and the Z axis as the vertical axis. The base coordinate system is a coordinate system that is excellent for aligning the tool 3 connected to the robot arm 2. In other words, the base coordinate system is a coordinate system used to move the tool 3 to an appropriate position. In addition, if the multi-degree-of-freedom input device 1 is something that can be held in the hand and its posture can be changed freely, such as a game pad, the base coordinate system may be an orthogonal coordinate system with its axis oriented horizontally relative to the base (housing) of the game pad.

[0027] The tool coordinate system is determined based on the tool 3 connected to the robot arm 2 for manipulating a target object. FIG. 3 is a schematic perspective view illustrating a tool coordinate system selectable by a selection switch of the control device for a multi-degree-of-freedom input device of the present invention. In the figure, parts with the same reference numerals as in FIG. 1 represent the same objects. As shown in FIG. 3, the tool coordinate system is a Cartesian coordinate system with its axis oriented perpendicular to the tool 3. Specifically, if the tool 3 is a tool with a rotation axis, such as a drill, a screwdriver, or a wrench, the Cartesian coordinate system is with its axis oriented perpendicular to the rotation axis. As shown in FIG. 3, the tool coordinate system is a Cartesian coordinate system with the tip of the tool 3 as the origin, the plane perpendicular to the rotation axis of the tool 3 as the XY plane, and the Z axis coaxial with the rotation axis of the tool 3. The tool coordinate system is an excellent coordinate system for aligning the orientation of the tool 3 connected to the robot arm 2. In other words, the tool coordinate system is a coordinate system used to change the orientation of the tool 3 so that its rotation axis is coaxial with the rotation axis of the target object. If the tool 3 is, for example, a finger-type end effector, the tool coordinate system may be an orthogonal coordinate system in which the axis is oriented horizontally relative to the back of the hand of the finger-type end effector. In other words, the coordinate system may be one suitable for aligning the orientation of the back of the hand with the target. In this way, the tool coordinate system may be determined appropriately depending on the tool 3 being used.

[0028] Referring again to FIG. 1 , the control unit 12 controls the robot arm 2 by using input axis information for two or more axes input by the operator using the multi-degree-of-freedom input device 1 as input axis information in a coordinate system selected by the selection switch 11. When the control unit 12 receives the input axis information from the multi-degree-of-freedom input device 1 by the operator, it first determines whether the selection switch 11 is set to the base coordinate system or the tool coordinate system. If the base coordinate system is selected by the selection switch 11, for example, the control unit 12 converts the input axis information from the multi-degree-of-freedom input device 1 into the base coordinate system and generates a control signal for the robot arm 2. On the other hand, if the tool coordinate system is selected by the selection switch 11, the control unit 12 converts the input axis information from the multi-degree-of-freedom input device 1 into the tool coordinate system and generates a control signal for the robot arm 2. That is, when the base coordinate system is selected by the selection switch 11, the control unit 12 converts the input axis information into a coordinate system determined based on the operator's line of sight, thereby enabling control of the robot arm 2. On the other hand, when the tool coordinate system is selected by the selection switch 11, the control unit 12 converts the input axis information into a coordinate system determined based on the operator's line of sight, thereby enabling control of the robot arm 2.

[0029] The multi-degree-of-freedom input device control device 10 of the present invention, with such a configuration, first operates the multi-degree-of-freedom input device 1 in the base coordinate system using the selection switch 11, thereby enabling the tool 3 to be aligned with a target. Then, by switching to the tool coordinate system using the selection switch 11 and operating the multi-degree-of-freedom input device 1, the orientation of the tool 3 can be adjusted. This allows the tool 3 to be aligned based on the operator's line of sight, and the orientation to be adjusted based on the tool's line of sight. This facilitates operations such as aligning the tool rotation axis with the target, which would be difficult using only the base coordinate system. For example, when removing a screw, nut, or the like fastened with a rotation axis coaxial with the vertical axis of the base coordinate system, the tool 3 only needs to be oriented vertically, and no orientation control is required. Therefore, it is not necessarily necessary to switch to the tool coordinate system for operation. However, it is particularly effective to switch to the tool coordinate system and adjust the orientation of the tool 3 when removing a screw, nut, or the like fastened with a rotation axis perpendicular to an inclined surface that is obliquely inclined relative to the horizontal of the base coordinate system.

[0030] The following describes the results of a verification experiment in which a nut removal task was performed by operating the multi-degree-of-freedom input device 1 using the multi-degree-of-freedom input device control device 10 of the present invention. The experimental method involved nine subjects performing the task of removing four nuts, two fastened on a horizontal plane and two fastened on an inclined plane, using the tool 3, three times each. A nut runner was used as the tool 3. In the verification experiment, the removal task was compared under three different conditions: 1) using only the base coordinate system, 2) using only the tool coordinate system, and 3) switching between the base coordinate system and the tool coordinate system using the selection switch 11. The evaluation items were the total movement distance of the robot arm in these tasks and the time required to complete the task.

[0031] Figure 4 is a graph comparing the total movement of the robot arm for each coordinate system. Note that the total movement of the robot arm varied greatly between subjects, so it was normalized for each subject. A t-test was also performed at a significance level of 5%. As can be seen from the figure, the total movement was smaller when work was performed while switching coordinate systems using the selection switch compared to when work was performed using only the base coordinate system or only the tool coordinate system.

[0032] Figure 5 is a graph comparing the task completion time for each coordinate system. A t-test was also conducted on the task completion time at a significance level of 5%. As shown in the figure, the task completion time is shorter when the task is performed while switching coordinate systems using the selection switch, compared to when the task is performed using only the base coordinate system or only the tool coordinate system.

[0033] In this way, when performing work using a multi-degree-of-freedom input device, if the coordinate system is appropriately switched using a selection switch using the control device for a multi-degree-of-freedom input device of the present invention, more intuitive operation becomes possible, and verification experiments have revealed that the total movement amount of the robot arm is smaller and the time required to complete the work is shorter.

[0034] The multi-degree-of-freedom input device 1 can be the remote control input device disclosed in the aforementioned Patent Document 2. This remote control input device positions the XYZ coordinate center of the translation mechanism in the grip section, while the roll, pitch, and yaw rotation center of the rotation mechanism at the operator's wrist joint, allowing intuitive remote control of an object with movements similar to those controlled by the musculoskeletal system. Using such a six-axis input device, in which the XYZ coordinate center and the roll, pitch, and yaw rotation center are offset from each other, together with the multi-degree-of-freedom input device control device of the present invention enables more intuitive operation. The multi-degree-of-freedom input device 1 may be configured to detect the amount and speed of translational movement and the amount and speed of rotational movement using displacement detection sensors such as rotary encoders and potentiometers. Using the multi-degree-of-freedom input device 1 configured in this way, the control unit 12 can control the position and drive speed of the robot arm 2 using input axis information from the multi-degree-of-freedom input device 1. That is, it is possible to operate the robot arm 2 at a speed that corresponds to the moving speed of the translational motion caused by wrist operation and the rotational speed of the rotational motion. This allows intuitive operation, such as operating the multi-degree-of-freedom input device 1 quickly when you want to move the robot arm 2 a long distance, or operating it slowly when approaching a target, which will also move the robot arm 2 slowly. This is effective regardless of which coordinate system is selected by the selection switch, so even if the tool coordinate system is selected, for example, it is possible to perform drive speed control along with attitude control.

[0035] When controlling a robot arm using the multi-degree-of-freedom input device 1, it is preferable for the worker to keep his or her gaze fixed on the robot arm 2 or a target object, and to avoid moving his or her gaze towards the multi-degree-of-freedom input device 1. Even when using the multi-degree-of-freedom input device control device 10 of the present invention, as described above, by devising the shape of the selection switch 11, it is possible to enable operation without visually confirming which of the two coordinate systems is selected.

[0036] Furthermore, referring again to FIG. 1, the multi-degree-of-freedom input device control device 10 of the present invention may be provided with an alarm unit 13 that notifies the user that one of two coordinate systems has been selected by the selection switch 11. For example, the alarm unit 13 may be a light that is turned on when the selection switch 11 selects the tool coordinate system. The alarm unit 13 may be built into the main body of the multi-degree-of-freedom input device control device 10, but is preferably provided in the tool 3 as shown in FIG. 1. The alarm unit 13 may be connected to the multi-degree-of-freedom input device control device 10 by wire or wirelessly. The alarm unit 13 may also notify the user by color or sound.

[0037] Furthermore, particularly in the case of remote operation, it may be difficult to know in which direction the tool is facing. Therefore, the multi-degree-of-freedom input device control device 10 of the present invention may be provided with a pointer 14 that indicates the direction in which the tool 3 connected to the robot arm 2 is facing. For example, the pointer 14 may be a laser pointer that irradiates the direction in which the rotation axis of the tool 3 is facing. As shown in FIG. 1, the pointer 14 may be provided, for example, at the tip of the tool 3. The pointer 14 may be connected to the multi-degree-of-freedom input device control device 10 by wire or wirelessly. The pointer 14 may be constantly lit, or the control unit 12 may control it to light only when the tool coordinate system is selected by the selection switch 11. In other words, the pointer 14 may be configured to also function as the above-mentioned notification unit 13.

[0038] Furthermore, the control device 10 for a multi-degree-of-freedom input device of the present invention may be provided with a tool camera 15 and a monitor 16. As shown in FIG. 1 , the tool camera 15 captures an image in the direction in which the tool 3 connected to the robot arm 2 is facing. That is, the tool camera 15 may be any camera that captures an image in the direction in which the rotation axis of the tool 3 is facing. The monitor 16 is configured to display the image captured by the tool camera 15. With this configuration, it becomes possible to perform work from the line of sight of the tool 3, even for targets on an inclined surface or targets in a blind spot that cannot be seen by the operator. When performing work while viewing the image captured by the tool camera 15 displayed on the monitor 16, operation using the tool coordinate system is particularly effective.

[0039] Furthermore, a panoramic camera 17 may be provided that captures images including the tool 3 and the target object. In this case, the monitor 16 may be configured to be able to display the image captured by the panoramic camera 17. By using the panoramic camera 17, even when remotely operating the robot arm 2, for example, it is possible to perform work from the operator's point of view by installing the panoramic camera 17 in a position where it can capture the entire work area including the tool 3 and the target object. When performing work while viewing the image captured by the panoramic camera 17 displayed on the monitor 16, operation using the base coordinate system is particularly effective.

[0040] In the case of the multi-degree-of-freedom input device control device 10 of the present invention configured as described above, the control unit 12 can further control the display of an image captured by the panoramic camera 17 on the monitor 16 when the base coordinate system is selected with the selection switch 11, and the display of an image captured by the tool camera 15 on the monitor 16 when the tool coordinate system is selected with the selection switch 11. Specifically, when remotely operating the robot arm 2, the base coordinate system is first selected with the selection switch 11, and the image captured by the panoramic camera 17 is displayed on the monitor 16. This allows the operator to align the tool 3 with a target object from the operator's perspective. Thereafter, the selection switch 11 is switched to the tool coordinate system, and the image captured by the tool camera 15 is displayed on the monitor 16. This allows the operator to align the orientation of the tool 3 from the tool's perspective. In the multi-degree-of-freedom input device control device 10 of the present invention, such control by the control unit 12 enables more intuitive operation even in remote operation.

[0041] It should be noted that the control device for a multi-degree-of-freedom input device of the present invention is not limited to the above-mentioned illustrated example, and it goes without saying that various modifications can be made within the scope of the gist of the present invention. [Explanation of symbols]

[0042] 1. Multi-degree-of-freedom input device 2. Robotic Arm 3 Tools 10. Control device for multi-degree-of-freedom input device 11 Selector switch 12 Control Unit 13. Information Department 14 Pointer 15 Tool Camera 16 monitors 17. Scenic Camera

Claims

1. A controller for a multi-degree-of-freedom input device that controls a robot arm based on input axis information for two or more axes by an operator using a multi-degree-of-freedom input device, the controller comprising: a selection switch that allows an operator to select one of two coordinate systems: a base coordinate system determined based on the multi-degree-of-freedom input device, and a tool coordinate system determined based on a tool connected to the robot arm for manipulating a target object; a control unit that controls the robot arm using input axis information for two or more axes input by an operator using a multi-degree-of-freedom input device as input axis information in a coordinate system selected by a selection switch; A controller for a multi-degree-of-freedom input device, comprising:

2. 2. A controller for a multi-degree-of-freedom input device according to claim 1, wherein said base coordinate system is an orthogonal coordinate system whose axes are oriented horizontally relative to a base of the multi-degree-of-freedom input device.

3. 2. A controller for a multi-degree-of-freedom input device according to claim 1, wherein said tool coordinate system is an orthogonal coordinate system in which an axis is oriented perpendicular to the tool.

4. 2. The controller for a multi-degree-of-freedom input device according to claim 1, wherein when the tool is a finger-type end effector, the tool coordinate system is an orthogonal coordinate system whose axis is oriented horizontally relative to the back of the hand of the finger-type end effector.

5. 2. The controller for a multi-degree-of-freedom input device according to claim 1, wherein the control unit controls the position and / or attitude of the robot arm as well as the drive speed, using input axis information for two or more axes input by an operator using the multi-degree-of-freedom input device.

6. 2. The controller for a multi-degree-of-freedom input device according to claim 1, further comprising an informing unit that informs whether one of the two coordinate systems has been selected by the selection switch.

7. 2. The controller for a multi-degree-of-freedom input device according to claim 1, further comprising a pointer that indicates a direction in which a tool connected to the robot arm is facing.

8. 2. The controller for a multi-degree-of-freedom input device according to claim 1, further comprising: a tool camera that captures an image in a direction in which a tool connected to the robot arm is facing; a monitor configured to be able to display an image captured by the tool camera; A controller for a multi-degree-of-freedom input device, comprising:

9. 9. The controller for a multi-degree-of-freedom input device according to claim 8, further comprising: A panoramic camera is provided to capture images including the tool and the target object, The monitor is configured to be able to display images captured by a panoramic camera. A controller for a multi-degree-of-freedom input device.

10. 10. The controller for a multi-degree-of-freedom input device according to claim 9, wherein the control unit displays an image captured by the panoramic camera on the monitor when a base coordinate system is selected by the selection switch, and displays an image captured by the tool camera on the monitor when a tool coordinate system is selected by the selection switch.

Images